EP0967121A2 - Procedure and control device for minimizing the consequence of an accident. - Google Patents

Procedure and control device for minimizing the consequence of an accident. Download PDF

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Publication number
EP0967121A2
EP0967121A2 EP99109342A EP99109342A EP0967121A2 EP 0967121 A2 EP0967121 A2 EP 0967121A2 EP 99109342 A EP99109342 A EP 99109342A EP 99109342 A EP99109342 A EP 99109342A EP 0967121 A2 EP0967121 A2 EP 0967121A2
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EP
European Patent Office
Prior art keywords
vehicle
evaluation device
accident
braking
data
Prior art date
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Granted
Application number
EP99109342A
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German (de)
French (fr)
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EP0967121A3 (en
EP0967121B1 (en
Inventor
Stephan Kopischke
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Volkswagen AG
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Volkswagen AG
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Publication of EP0967121A3 publication Critical patent/EP0967121A3/en
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Publication of EP0967121B1 publication Critical patent/EP0967121B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/024—Collision mitigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems

Definitions

  • the invention relates to a method for minimizing the consequences of accidents in motor vehicles according to the preamble of claim 1 and a control device for implementation this procedure.
  • ABS used in many vehicles.
  • the basic function of ABS is to prevent the wheels from locking in the event of an emergency stop The ability to steer the vehicle even when braking hard. Of the This enables the driver to close the collision point even when braking hard drive around and thereby avoid a collision, unless it is a unavoidable accident situation in which evasion from physical driving Reasons is no longer possible.
  • EP 0 545 437 B1 describes a method for avoiding collisions between Motor vehicles known with which vehicles spaced apart in the direction of travel can be detected and the driver is warned of inadmissible approaches by means of warning messages. The driver then has the opportunity, due to the distance minimum not yet reached, initiate appropriate braking operations themselves. If it falls below a minimum permissible distance, the vehicle is automatically braked so that the sets the required safety distance again. In a sudden occurrence In the event of an accident, this system is only suitable for automatic emergency braking for optimal speed reduction.
  • DE 38 30 790 A1 also describes a method and a device for automatic collision avoidance of automatically guided vehicles known continuously detects collision risks using sensors. Will one If the risk of collision is determined, the system guides the vehicle along a collision-free route Driving line around a recognized obstacle. However, an inevitable occurs Accident situation with an impending collision, there is a problem with this system Danger that the automatically steered vehicle from a more favorable collision position is brought into a collision position which is less favorable for the occupants.
  • DE 196 47 283 A1 describes a device for avoiding and / or minimizing Conflict situations known in road traffic that affect the driving behavior of a vehicle can control an inevitable accident situation.
  • the driver is no longer in able to avoid an impending accident, the device engages and grasps Mitigation measures by, for example, hitting a Garbage can on the pavement colliding with one on the road preferred person.
  • the device performs an automatic steering function through what requires a correspondingly high technical effort.
  • the invention has for its object a method for minimizing the consequences of accidents in the event of an unavoidable collision, which is as small as possible technical effort is realizable.
  • the method is used to slow down the in an unavoidable accident situation individual wheels and / or influencing the steering in such a way that the vehicle turns into a position that minimizes the consequences of the accident. In this way can be a critical impact angle for the occupants of the vehicle or an unfavorable one Offset impact can be avoided.
  • An evaluation device can vehicle-specific characteristics and those present in the accident situation Take driving dynamics data into account in such a way that the consequences of the accident are reduced is achieved.
  • the distance or the are continuously changing relative coordinates between the vehicle and an obstacle determined and the Change speed of the distance or the relative coordinates to control the Braking process used.
  • This measure can be taken by the evaluation device be recognized whether there is an unavoidable accident situation and which Characteristics of the special accident situation.
  • each with assigned preferred impact target angles can be stored so that the evaluation device required control signals to an automatic braking device and / or Steering device can pass to the vehicle, for example, in the direction of Target impact angle.
  • the evaluation device recognizes this on the basis of the limit values stored in a memory. If these limits are exceeded, the evaluation device initiates an automatic braking process in order to avoid as much as possible low impact energy and optimal vehicle alignment in the event of an impact to obtain. It can be a good idea to use a slightly higher one Allow impact speed if appropriate braking measures are taken but a more favorable impact position for the vehicle can be achieved.
  • the one for that necessary decision criteria are preferably stored in a memory. on which the evaluation device can constantly access.
  • the procedure can be such that in an inevitable accident situation initially there is a maximum deceleration of the vehicle speed before a correction the impact angle or the impact position. Whether such a thing two-stage braking process can be used by the respective the present accident situation can be made dependent.
  • the Control device comprises an evaluation device which is attached to the vehicle Environmental sensors environmental data and internal from the vehicle electronics Receives vehicle data and based on this data an inevitable accident situation recognizes and causes an individual braking of the individual wheels in such a way that the vehicle is aiming for a predetermined, optimal impact position. It can in particular a favorably chosen impact angle to minimize the consequences of the accident contribute. If, for example, an impending side sensor is coming from the environment sensors offset frontal impact can be detected by braking the wheels on one side Changing the angular position of the vehicle can be achieved for better To exploit the existing deformation areas on the vehicle.
  • the device has a memory that contains vehicle-specific features and limit values that are included in the evaluation device constantly compare the environmental data and vehicle data and to control the Braking process can be used in an accident situation.
  • vehicle-specific features and limit values that are included in the evaluation device constantly compare the environmental data and vehicle data and to control the Braking process can be used in an accident situation.
  • Vehicle types can have different characteristics in the memory Features can be stored so that a reduction in the optimal Consequences of accidents even with different vehicles without great technical effort can be achieved.
  • the characteristic features can be stored in the memory a large number of possible accident situations with the associated optimal target impact angles be stored, the target impact angle for different Vehicle types generally also have different values.
  • the evaluation device controls one Brake control, which is part of an automatic braking system, braking the individual wheels. It can therefore be an automatic braking system that is present anyway be used, which increases the additional technical effort for the keep the method according to the invention and the device according to the invention very small leaves. In an accident situation, the evaluation device takes over the brake control of the automatic braking system, while otherwise the automatic braking system in the is operated in a conventional manner.
  • the control device has attached to a vehicle 1 in the front area Environment sensors 2 and also use vehicle data in the vehicle 1 located vehicle electronics 3.
  • vehicle 1 On the sketched vehicle 1 are the positions of the Environment sensors and vehicle electronics, for example with arrows 2 and 3 specified.
  • Corresponding ones are in the block diagram of the control device Circuit blocks specified that the environmental sensors 2 and the vehicle electronics Represent 3.
  • environmental data 4 arrive at a Evaluation device 5, which receives vehicle data 6 from the vehicle electronics.
  • a memory 7 connected to the evaluation device 5 are characteristic Characteristics of the vehicle and limit values as well as the associated ideal impact angle different accident situations.
  • the evaluation device 5 can be constantly on access this data stored in the memory 7 and make a comparison with the current one Make environmental data and vehicle data.
  • the environmental data is the Evaluation device transmitted relative coordinates to possible obstacles 8 which the evaluation device in particular the shape and the distance of a Obstacle 8 can determine.
  • the environmental sensors that act as radar can be formed, can also provide environmental data that it Evaluation device make it possible to distinguish whether the obstacle 8 is a vehicle or is a person or other object.
  • the vehicle data 6 can give information about speed, seat occupancy, Vehicle weight, brake pedal position, accelerator position included. From the Environment data and vehicle data in connection with the characteristic Features from the memory 7 can be evaluated by the evaluation device 5 Brake control 9 targeted braking of the individual wheels R1 to R4 Make vehicle 1 in such a way that vehicle 1 has an optimal impact angle ⁇ related to the obstacle 8. In addition to the impact angle ⁇ , a optimal impact position for the vehicle 1 are aimed for.
  • the evaluation device 5 not only evaluates the environmental data 4 and the vehicle data 6, but takes into account in particular the vehicle-specific parameters or the characteristic features of the vehicle type, which are stored in memory 7.
  • the data stored in the memory 7 can be in the form of a vehicle-specific map. For example, for one a map for the optimum impact angle depending on the specific vehicle type be stored in the memory 7 by the respective vehicle speed.

Abstract

The method involves continuously detecting obstacles (8) in or near the direction of motion of the vehicle (1) using on-board sensors (2), passing vehicle dynamic state values to an evaluation device (5), performing a continuous threshold value comparison and performing controlled braking on detecting an imminent, unavoidable accident situation. In the event of an impending unavoidable accident situation the vehicle is steered and braked so as to minimise the consequences of the accident. An Independent claim is also included for a controller for implementing the method.

Description

Die Erfindung betrifft ein Verfahren zur Minimierung von Unfallfolgen bei Kraftfahrzeugen gemäß Oberbegriff des Anspruchs 1 sowie eine Steuereinrichtung zur Durchführung dieses Verfahrens.The invention relates to a method for minimizing the consequences of accidents in motor vehicles according to the preamble of claim 1 and a control device for implementation this procedure.

Es sind Systeme für Fahrzeuge bekannt, die den Fahrer in kritischen Situationen in der Weise unterstützen, daß ein bevorstehender Unfall durch ein optimales Abbremsen möglichst verhindert oder zumindest die Aufprallgeschwindigkeit am Kollisionspunkt auf ein Minimum reduziert wird. Ein derartiges automatisches Bremssystem ist unter der allgemeinen Bezeichnung ABS in vielen Fahrzeugen im Einsatz. Die Grundfunktion des ABS besteht darin, bei einer Notbremsung ein Blockieren der Räder zu vermeiden, um die Lenkfähigkeit des Fahrzeugs auch bei einer Vollbremsung beibehalten zu können. Der Fahrer hat dadurch die Möglichkeit, auch bei einer Vollbremsung den Kollisionspunkt zu umfahren und dadurch eine Kollision zu vermeiden, sofern es sich nicht um eine unvermeidliche Unfallsituation handelt, in der ein Ausweichen aus fahrphysikalischen Gründen überhaupt nicht mehr möglich ist.Systems for vehicles are known to the driver in critical situations in the Support way that an upcoming accident by optimal braking prevented as far as possible or at least the impact speed at the collision point is reduced to a minimum. Such an automatic braking system is under the general designation ABS used in many vehicles. The basic function of ABS is to prevent the wheels from locking in the event of an emergency stop The ability to steer the vehicle even when braking hard. Of the This enables the driver to close the collision point even when braking hard drive around and thereby avoid a collision, unless it is a unavoidable accident situation in which evasion from physical driving Reasons is no longer possible.

Es sind Systeme bekannt, die durch gezieltes Beschleunigen bzw. Verzögern und/oder durch Ausweichmanöver eine Kollision des Fahrzeugs mit einem Hindernis verhindern sollen. Derartige, kurz als CAS (Collision Avoidance Systems) bezeichnete Systeme sollen das Fahrzeug aus mittels Sensoren erkannten Kollisionssituationen dadurch herausführen, daß durch eine vom Fahrer entkoppelte Lenkung und damit unabhängig vom Fahrer auszuführende Lenkbewegungen sowie ebenfalls fahrerunabhängig gesteuerte Beschleunigungen bzw. Verzögerungen des Fahrzeugs eine Kollision vermieden wird. In der EP 0 582 236 wird ein Netzwerk vorgeschlagen, das mittels Auswertung von laufender CCD-Kamera aufgenommener Umgebungsbilder die Umgebung auf mögliche Kollisionen auswertet und anhand zusätzlicher Signale des Fahrzustandes des Fahrzeuges eine Beeinflussung von Fahrzeuggeschwindigkeit und Lenkbewegung vornimmt. Eine andere Lösung schlägt die DE 43 02 527 vor, bei der durch Segmentierung des zu überwachenden Straßenbereichs unter Einbeziehung von Zustandsinformationen des Fahrzeuges Regeln abgeleitet werden, wie durch Brems- und Lenkoperationen einem erkannten Hindernis ausgewichen werden kann. Hauptproblem dieser vorgeschlagenen Systeme ist deren Komplexität, die einen in der Praxis nicht realisierbaren Aufwand darstellt. Außerdem können auch Unfallsituationen derart überraschend auftreten, daß ein Vermeiden des Unfalls durch frühzeitiges Ausweichen nicht mehr möglich ist.Systems are known which are accelerated or decelerated and / or prevent a collision of the vehicle with an obstacle by evasive maneuvers should. Such systems, referred to briefly as CAS (Collision Avoidance Systems) the vehicle should be able to do this from collision situations detected by sensors lead out that by a decoupled steering from the driver and thus independent Steering movements to be carried out by the driver and also independent of the driver controlled accelerations or decelerations of the vehicle a collision is avoided. A network is proposed in EP 0 582 236, which by means of Evaluation of surrounding images taken by a running CCD camera Evaluates the environment for possible collisions and uses additional signals from the Driving state of the vehicle influencing vehicle speed and Makes steering movement. Another solution is proposed by DE 43 02 527, in which by segmenting the road area to be monitored, including Condition information of the vehicle can be derived, such as through braking and Steering operations can avoid a recognized obstacle. Main problem of these proposed systems is their complexity, which one does not in practice represents realizable effort. Accident situations can also occur in this way surprisingly occur that avoiding the accident by early evasion is no longer possible.

Aus der EP 0 545 437 B1 ist ein Verfahren zur Vermeidung von Kollisionen von Kraftfahrzeugen bekannt, mit dem in Fahrtrichtung beabstandete Fahrzeuge erfaßbar sind und mittels Warnmeldungen der Fahrer bei unzulässigen Annäherungen gewarnt wird. Der Fahrer hat dann aufgrund des noch nicht erreichten Abstandsminimums Gelegenheit, selbst entsprechende Bremsvorgänge einzuleiten. Bei Unterschreiten eines minimal zulässigen Abstandes wird das Fahrzeug automatisch abgebremst, so daß sich der geforderte Sicherheitsabstand wieder einstellt. In einer plötzlich auftretenden Unfallsituation ist dieses System allenfalls dazu geeignet, eine automatische Notbremsung zur optimalen Geschwindigkeitsverringerung vorzunehmen.EP 0 545 437 B1 describes a method for avoiding collisions between Motor vehicles known with which vehicles spaced apart in the direction of travel can be detected and the driver is warned of inadmissible approaches by means of warning messages. The driver then has the opportunity, due to the distance minimum not yet reached, initiate appropriate braking operations themselves. If it falls below a minimum permissible distance, the vehicle is automatically braked so that the sets the required safety distance again. In a sudden occurrence In the event of an accident, this system is only suitable for automatic emergency braking for optimal speed reduction.

Aus der DE 38 30 790 A1 ist weiterhin ein Verfahren und eine Vorrichtung zur automatischen Kollisionsvermeidung von automatisch führbaren Fahrzeugen bekannt, die mittels Sensoren eine laufende Erkennung von Kollisionsgefahren vornimmt. Wird eine Kollisionsgefahr festgestellt, führt das System das Fahrzeug entlang einer kollisionsfreien Fahrlinie um ein erkanntes Hindernis herum. Tritt jedoch eine unvermeidbare Unfallsituation mit einer bevorstehenden Kollision auf, so besteht bei diesem System die Gefahr, daß das automatisch gelenkte Fahrzeug aus einer günstigeren Kollisionsposition in eine für die Insassen ungünstigere Kollisionsposition gebracht wird.DE 38 30 790 A1 also describes a method and a device for automatic collision avoidance of automatically guided vehicles known continuously detects collision risks using sensors. Will one If the risk of collision is determined, the system guides the vehicle along a collision-free route Driving line around a recognized obstacle. However, an inevitable occurs Accident situation with an impending collision, there is a problem with this system Danger that the automatically steered vehicle from a more favorable collision position is brought into a collision position which is less favorable for the occupants.

Aus der DE 196 47 283 A1 ist eine Vorrichtung zur Vermeidung und/oder Minimierung von Konfliktsituationen im Straßenverkehr bekannt, die das Fahrverhalten eines Fahrzeuges in einer unvermeidlichen Unfallsituation steuern kann. Ist der Fahrzeugführer nicht mehr in der Lage, eine bevorstehenden Unfall zu vermeiden, greift die Vorrichtung ein und ergreift Maßnahmen zur Schadensbegrenzung, in dem sie beispielsweise die Kollision mit einer Mülltonne auf dem Bürgersteig dem Zusammenstoß mit einer auf der Fahrbahn befindlichen Person vorzieht. Dabei führt die Vorrichtung eine automatische Lenkfunktion durch, was einen entsprechend hohen technischen Aufwand erfordert.DE 196 47 283 A1 describes a device for avoiding and / or minimizing Conflict situations known in road traffic that affect the driving behavior of a vehicle can control an inevitable accident situation. The driver is no longer in able to avoid an impending accident, the device engages and grasps Mitigation measures by, for example, hitting a Garbage can on the pavement colliding with one on the road preferred person. The device performs an automatic steering function through what requires a correspondingly high technical effort.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Minimierung von Unfallfolgen im Falle einer unvermeidlichen Kollision zu schaffen, welches mit möglichst geringem technischen Aufwand realisierbar ist.The invention has for its object a method for minimizing the consequences of accidents in the event of an unavoidable collision, which is as small as possible technical effort is realizable.

Die Lösung dieser Aufgabe erhält man mit den Merkmalen des Anspruchs 1.The solution to this problem is obtained with the features of claim 1.

Mit dem Verfahren wird in einer unvermeidlichen Unfallsituation ein Abbremsen der einzelnen Räder und/oder eine Beeinflussung der Lenkung in der Weise vorgenommen, daß sich das Fahrzeug in eine die Unfallfolgen minimierende Lage dreht. Auf diese Weise kann ein für die Insassen des Fahrzeugs kritischer Aufprallwinkel oder ein ungünstiger Offset-Aufprall vermieden werden. Eine Auswerteeinrichtung kann dabei fahrzeugspezifische Merkmale und die in der Unfallsituation vorhandenen fahrdynamischen Daten so berücksichtigen, daß eine Reduzierung der Unfallfolgen erreicht wird.The method is used to slow down the in an unavoidable accident situation individual wheels and / or influencing the steering in such a way that the vehicle turns into a position that minimizes the consequences of the accident. In this way can be a critical impact angle for the occupants of the vehicle or an unfavorable one Offset impact can be avoided. An evaluation device can vehicle-specific characteristics and those present in the accident situation Take driving dynamics data into account in such a way that the consequences of the accident are reduced is achieved.

Gemäß einer Weiterbildung der Erfindung werden der Abstand oder die sich laufend ändernden Relativkoordinaten zwischen Fahrzeug und einem Hindernis ermittelt und die Änderungsgeschwindigkeit des Abstands oder der Relativkoordinaten zur Steuerung des Bremsvorganges verwendet. Durch diese Maßnahme kann von der Auswerteeinrichtung erkannt werden, ob eine unvermeidliche Unfallsituation vorliegt und welche Charakteristika die spezielle Unfallsituation aufweist. In einem Speicher können außerdem eine Vielzahl von unterschiedlichen Unfallsituationen mit jeweils zugeordneten, bevorzugten Aufprall-Sollwinkeln abgespeichert sein, so daß die Auswerteeinrichtung die erforderlichen Steuersignale an eine automatische Bremseinrichtung und/oder eine Lenkeinrichtung weitergeben kann, um das Fahrzeug beispielsweise in Richtung des Aufprall-Sollwinkels zu drehen.According to a further development of the invention, the distance or the are continuously changing relative coordinates between the vehicle and an obstacle determined and the Change speed of the distance or the relative coordinates to control the Braking process used. This measure can be taken by the evaluation device be recognized whether there is an unavoidable accident situation and which Characteristics of the special accident situation. In a store you can also a variety of different accident situations, each with assigned preferred impact target angles can be stored so that the evaluation device required control signals to an automatic braking device and / or Steering device can pass to the vehicle, for example, in the direction of Target impact angle.

Eine unvermeidliche Unfallsituation liegt dann vor, wenn ein Ausweichen oder Anhalten vor dem Hindernis nicht mehr möglich ist. Dies erkennt die Auswerteeinrichtung anhand der in einem Speicher abgelegten Grenzwerte. Werden diese Grenzwerte überschritten, leitet die Auswerteeinrichtung einen automatischen Bremsvorgang ein, um eine möglichst geringe Aufprallenergie und eine möglichst optimale Fahrzeugausrichtung beim Aufprall zu erhalten. Dabei kann es durchaus zweckmäßig sein, eine etwas höhere Aufprallgeschwindigkeit zuzulassen, wenn durch entsprechende Bremsmaßnahmen dafür aber eine günstigere Aufprallposition für das Fahrzeug erreicht werden kann. Die dafür erforderlichen Entscheidungskriterien sind vorzugsweise in einem Speicher abgelegt. auf den die Auswerteeinrichtung ständig zugreifen kann.An inevitable accident situation is when evasion or stopping before the obstacle is no longer possible. The evaluation device recognizes this on the basis of the limit values stored in a memory. If these limits are exceeded, the evaluation device initiates an automatic braking process in order to avoid as much as possible low impact energy and optimal vehicle alignment in the event of an impact to obtain. It can be a good idea to use a slightly higher one Allow impact speed if appropriate braking measures are taken but a more favorable impact position for the vehicle can be achieved. The one for that necessary decision criteria are preferably stored in a memory. on which the evaluation device can constantly access.

Es kann vorteilhaft sein, die Steuerung des Bremsvorganges in Abhängigkeit von der Sitzbelegung durchzuführen. Befinden sich im Fahrzeug außer dem Fahrer keine weiteren Insassen, so kann zur Verringerung der Unfallfolgen für den Fahrer ein anderer Aufprallwinkel günstig sein, als dies der Fall wäre, wenn das Fahrzeug vollbesetzt ist.It may be advantageous to control the braking process depending on the Seat occupancy. Apart from the driver, there are no others in the vehicle Occupants can reduce the consequences of accidents for the driver Impact angle be favorable than would be the case when the vehicle is fully occupied.

Das Verfahren kann so ablaufen, daß in einer unvermeidlichen Unfallsituation zunächst eine maximale Verzögerung der Fahrzeuggeschwindigkeit erfolgt, bevor eine Korrektur des Aufprallwinkels oder der Aufprallposition vorgenommen wird. Ob ein derart zweistufiges Bremsverfahren zum Einsatz kommen soll, kann von der jeweils vorliegenden Unfallsituation abhängig gemacht werden.The procedure can be such that in an inevitable accident situation initially there is a maximum deceleration of the vehicle speed before a correction the impact angle or the impact position. Whether such a thing two-stage braking process can be used by the respective the present accident situation can be made dependent.

Zur Durchführung des erfindungsgemäßen Verfahren wird außerdem eine Steuereinrichtung mit den Merkmalen des Anspruchs 7 vorgeschlagen. Die Steuereinrichtung umfaßt eine Auswerteeinrichtung, die von am Fahrzeug angebrachten Umgebungssensoren Umgebungsdaten und von der Fahrzeugelektronik interne Fahrzeugdaten erhält und anhand dieser Daten eine unvermeidliche Unfallsituation erkennt und ein individuelles Abbremsen der einzelnen Räder in der Weise veranlaßt, daß das Fahrzeug eine vorgegebene, optimale Aufprallposition anstrebt. Dabei kann insbesondere ein günstig gewählter Aufprallwinkel zur Minimierung der Unfallfolgen beitragen. Wird beispielsweise über die Umgebungssensoren ein bevorstehender seitlich versetzter Frontalaufprall erkannt, kann durch einseitiges Abbremsen der Räder eine Veränderung der Winkelposition des Fahrzeugs erreicht werden, um eine bessere Ausnutzung der am Fahrzeug vorhandenen Deformationsbereiche zu erzielen.To carry out the method according to the invention, a Control device with the features of claim 7 proposed. The Control device comprises an evaluation device which is attached to the vehicle Environmental sensors environmental data and internal from the vehicle electronics Receives vehicle data and based on this data an inevitable accident situation recognizes and causes an individual braking of the individual wheels in such a way that the vehicle is aiming for a predetermined, optimal impact position. It can in particular a favorably chosen impact angle to minimize the consequences of the accident contribute. If, for example, an impending side sensor is coming from the environment sensors offset frontal impact can be detected by braking the wheels on one side Changing the angular position of the vehicle can be achieved for better To exploit the existing deformation areas on the vehicle.

Bei der bevorzugten Ausführungsform besitzt die Vorrichtung einen Speicher, der fahrzeugspezifische Merkmale und Grenzwerte enthält, die in der Auswerteeinrichtung mit den Umgebungsdaten und Fahrzeugdaten ständig vergleichen und zur Steuerung des Bremsvorganges in einer Unfallsituation verwendet werden. Für unterschiedliche Fahrzeugtypen können in dem Speicher entsprechend unterschiedliche charakteristische Merkmale abgespeichert sein, so daß in optimaler Weise eine Verringerung der Unfallfolgen auch bei unterschiedlichen Fahrzeugen ohne großen technischen Aufwand erreicht werden kann. Dabei können in dem Speicher die charakteristischen Merkmale einer Vielzahl möglicher Unfallsituationen mit den jeweils zugehörigen optimalen Aufprall-Sollwinkeln gespeichert sein, wobei die Aufprall-Sollwinkel für unterschiedliche Fahrzeugtypen in der Regel auch unterschiedliche Werte haben.In the preferred embodiment, the device has a memory that contains vehicle-specific features and limit values that are included in the evaluation device constantly compare the environmental data and vehicle data and to control the Braking process can be used in an accident situation. For different Vehicle types can have different characteristics in the memory Features can be stored so that a reduction in the optimal Consequences of accidents even with different vehicles without great technical effort can be achieved. The characteristic features can be stored in the memory a large number of possible accident situations with the associated optimal target impact angles be stored, the target impact angle for different Vehicle types generally also have different values.

Bei der bevorzugten Vorrichtung steuert die Auswerteeinrichtung über eine Bremsensteuerung, die Teil eines automatischen Bremssystems ist, das Abbremsen der einzelnen Räder. Es kann somit ein ohnehin vorhandenes automatisches Bremssystem mitverwendet werden, wodurch sich der zusätzliche technische Aufwand für das erfindungsgemäße Verfahren und die erfindungsgemäße Vorrichtung sehr klein halten läßt. In einer Unfallsituation übernimmt die Auswerteeinrichtung die Bremsensteuerung des automatischen Bremssystems, während sonst das automatische Bremssystem in der herkömmlichen Weise betrieben wird.In the preferred device, the evaluation device controls one Brake control, which is part of an automatic braking system, braking the individual wheels. It can therefore be an automatic braking system that is present anyway be used, which increases the additional technical effort for the keep the method according to the invention and the device according to the invention very small leaves. In an accident situation, the evaluation device takes over the brake control of the automatic braking system, while otherwise the automatic braking system in the is operated in a conventional manner.

Die Erfindung wird nachfolgend anhand eines in der Zeichnung dargestellten Blockschaltbildes der Steuereinrichtung näher erläutert.The invention is illustrated below with the aid of one in the drawing Block diagram of the control device explained in more detail.

Die Steuereinrichtung besitzt an einem Fahrzeug 1 im vorderen Bereich angebrachte Umgebungssensoren 2 und verwendet auch Fahrzeugdaten der im Fahrzeug 1 befindlichen Fahrzeugelektronik 3. An dem skizzierten Fahrzeug 1 sind die Positionen der Umgebungssensoren und der Fahrzeugelektronik beispielhaft mit den Pfeilen 2 und 3 angegeben. Im Blockschaltbild der Steuereinrichtung sind entsprechende Schaltungsblöcke angegeben, die die Umgebungssensoren 2 und die Fahrzeugelektronik 3 repräsentieren.The control device has attached to a vehicle 1 in the front area Environment sensors 2 and also use vehicle data in the vehicle 1 located vehicle electronics 3. On the sketched vehicle 1 are the positions of the Environment sensors and vehicle electronics, for example with arrows 2 and 3 specified. Corresponding ones are in the block diagram of the control device Circuit blocks specified that the environmental sensors 2 and the vehicle electronics Represent 3.

Von den Umgebungssensoren 2 gelangen Umgebungsdaten 4 zu einer Auswerteeinrichtung 5, die von der Fahrzeugelektronik Fahrzeugdaten 6 empfängt. In einem mit der Auswerteeinrichtung 5 verbundenen Speicher 7 sind charakteristische Merkmale des Fahrzeugs und Grenzwerte sowie zugehörige ideale Aufprallwinkel bei unterschiedlichen Unfallsituationen abgelegt. Die Auswerteeinrichtung 5 kann ständig auf diese im Speicher 7 abgelegten Daten zugreifen und einen Vergleich mit den aktuellen Umgebungsdaten und Fahrzeugdaten vornehmen. Als Umgebungsdaten werden der Auswerteeinrichtung Relativkoordinaten zu möglichen Hindernissen 8 übermittelt, aus denen die Auswerteeinrichtung insbesondere die Form und den Abstand eines Hindernisses 8 feststellen kann. Die Umgebungssensoren, die als Radareinrichtung ausgebildet sein können, können auch Umgebungsdaten liefern, die es der Auswerteeinrichtung ermöglichen zu unterscheiden, ob das Hindernis 8 ein Fahrzeug oder eine Person oder ein sonstiger Gegenstand ist.From the environmental sensors 2 environmental data 4 arrive at a Evaluation device 5, which receives vehicle data 6 from the vehicle electronics. In a memory 7 connected to the evaluation device 5 are characteristic Characteristics of the vehicle and limit values as well as the associated ideal impact angle different accident situations. The evaluation device 5 can be constantly on access this data stored in the memory 7 and make a comparison with the current one Make environmental data and vehicle data. The environmental data is the Evaluation device transmitted relative coordinates to possible obstacles 8 which the evaluation device in particular the shape and the distance of a Obstacle 8 can determine. The environmental sensors that act as radar can be formed, can also provide environmental data that it Evaluation device make it possible to distinguish whether the obstacle 8 is a vehicle or is a person or other object.

Die Fahrzeugdaten 6 können Angaben über Geschwindigkeit, Sitzbelegung, Fahrzeuggewicht, Bremspedalstellung, Gaspedalstellung enthalten. Aus den Umgebungsdaten und Fahrzeugdaten in Verbindung mit den charakteristischen Merkmalen aus dem Speicher 7 kann die Auswerteeinrichtung 5 über eine Bremsensteuerung 9 ein gezieltes Abbremsen der einzelnen Räder R1 bis R4 des Fahrzeugs 1 in der Weise vornehmen, daß das Fahrzeug 1 einen optimalen Aufprallwinkel α bezogen auf das Hindernis 8 einnimmt. Außer dem Aufprallwinkel α kann auch eine optimale Aufprallposition für das Fahrzeug 1 angestrebt werden.The vehicle data 6 can give information about speed, seat occupancy, Vehicle weight, brake pedal position, accelerator position included. From the Environment data and vehicle data in connection with the characteristic Features from the memory 7 can be evaluated by the evaluation device 5 Brake control 9 targeted braking of the individual wheels R1 to R4 Make vehicle 1 in such a way that vehicle 1 has an optimal impact angle α related to the obstacle 8. In addition to the impact angle α, a optimal impact position for the vehicle 1 are aimed for.

Um die bei einer unvermieidlichen Unfallsituation auftretenden Unfallfolgen möglichst gering halten zu können, wertet die Auswerteeinrichtung 5 nicht nur die Umgebungsdaten 4 und die Fahrzeugdaten 6 aus, sondern berücksichtigt insbesondere die fahrzeugspezifischen Parameter bzw. die charakteristischen Merkmale des Fahrzeugtyps, die im Speicher 7 abgelegt sind. Die im Speicher 7 abgelegten Daten können in Form eines fahrzeugspezifischen Kennfeldes abgespeichert sein. Beispielsweise kann für einen bestimmten Fahrzeugtyp ein Kennfeld für den optimalen Aufprallwinkel in Abhängigkeit von der jeweiligen Fahrzeuggeschwindigkeit im Speicher 7 abgelegt sein.In order to avoid the consequences of an accident that occur in the event of an unavoidable accident To be able to keep it low, the evaluation device 5 not only evaluates the environmental data 4 and the vehicle data 6, but takes into account in particular the vehicle-specific parameters or the characteristic features of the vehicle type, which are stored in memory 7. The data stored in the memory 7 can be in the form of a vehicle-specific map. For example, for one a map for the optimum impact angle depending on the specific vehicle type be stored in the memory 7 by the respective vehicle speed.

Claims (10)

Verfahren zur Minimierung von Unfallfolgen bei Fahrzeugen, bei dem am Fahrzeug (1) vorgesehene Umgebungssensoren (2) laufend in oder nahe der Bewegungsrichtung des Fahrzeugs (1) befindliche Hindernisse (8) erfassen, fahrdynamische Zustandswerte als Fahrzeugdaten (6) laufend an eine Auswerteeinrichtung (5) weitergegeben werden, die Auswerteeinrichtung (5) mit den ihr zugeführten Daten einen laufenden Grenzwertvergleich und bei erkennen einer bevorstehenden, unvermeidlichen Unfallsituation eine Fahrzeugbeeinflussung durch ein gesteuertes Abbremsen vornimmt, dadurch gekennzeichnet, daß in einer unvermeidlichen Unfallsituation das Fahrzeug (1) durch einen automatischen Lenkvorgang und/oder durch ein gezieltes Abbremsen der einzelnen Räder (R1 bis R4) des Fahrzeugs (1) in eine die Unfallfolgen minimierende Aufprallposition gedreht wird.Method for minimizing the consequences of accidents in vehicles, in which environmental sensors (2) provided on the vehicle (1) continuously detect obstacles (8) located in or near the direction of movement of the vehicle (1), driving dynamics status values as vehicle data (6) continuously to an evaluation device ( 5) are passed on, the evaluation device (5) uses the data supplied to it to carry out a continuous limit value comparison and, in the event of an impending, unavoidable accident situation, influencing the vehicle by controlled braking, characterized in that in an unavoidable accident situation the vehicle (1) is controlled by an automatic Steering process and / or by targeted braking of the individual wheels (R1 to R4) of the vehicle (1) is rotated into an impact position that minimizes the consequences of the accident. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Auswerteeinrichtung (5) den Abstand oder die sich laufend ändernden Relativkoordinaten zwischen Fahrzeug (1) und Hindernis (8) ermittelt und die Änderungsgeschwindigkeit des Abstands oder der Relativkoordinaten zur Steuerung des Bremsvorganges und/oder des Lenkvorganges verwendet werden.A method according to claim 1, characterized in that the evaluation device (5) determines the distance or the constantly changing relative coordinates between the vehicle (1) and obstacle (8) and the rate of change of the distance or the relative coordinates for controlling the braking process and / or the steering process be used. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß für eine Vielzahl von unterschiedlichen Unfallsituationen jeweils zugeordnete, bevorzugt Aufprall-Sollwinkel (α) abgespeichert sind, und daß bei Auftreten einer Unfallsituation der zugehörige Aufprall-Sollwinkel angestrebt wird.Method according to one of claims 1 or 2, characterized in that, for a plurality of different accident situations, respectively assigned, preferably impact target angles (α) are stored, and that in the event of an accident situation the associated target impact angle is sought. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß eine unvermeidliche Unfallsituation dann vorliegt, wenn die Auswerteeinrichtung (5) erkennt, daß ein Ausweichen oder Anhalten vor dem Hindernis (8) nicht mehr möglich ist. Method according to one of the preceding claims, characterized in that there is an unavoidable accident situation when the evaluation device (5) recognizes that it is no longer possible to avoid or stop in front of the obstacle (8). Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Steuerung des Bremsvorganges in Abhängigkeit von der Sitzbelegung erfolgt.Method according to one of the preceding claims, characterized in that the braking operation is controlled as a function of the seat occupancy. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Auswerteeinrichtung (5) anhand von gemessenen Daten und fahrzeugspezifischen Merkmalen in einer unvermeidlichen Unfallsituation entscheidet, ob und wie lange eine maximale Verzögerung der Fahrzeuggeschwindigkeit erfolgen soll, bevor eine Korrektur des Aufprallwinkels oder der Aufprallposition vorgenommen wird.Method according to one of the preceding claims, characterized in that the evaluation device (5) uses measured data and vehicle-specific features in an unavoidable accident situation to decide whether and how long a maximum deceleration of the vehicle speed should take place before the impact angle or the impact position is corrected becomes. Steuereinrichtung zur Durchführung des Verfahrens zur Minimierung der Unfallfolgen bei Fahrzeugen nach einem der Ansprüche 1 bis 6, die eine Auswerteeinrichtung (5) hat, die von am Fahrzeug (1) angebrachten Umgebungssensoren (2) und von der Fahrzeugelektronik (3) interne Fahrzeugdaten erhält und anhand dieser Daten eine unvermeidliche Unfallsituation erkennt und ein individuelles Abbremsen der einzelnen Räder (R1 bis R2) in der Weise veranlaßt, daß das Fahrzeug (1) eine vorgegebene, optimale Aufprallposition anstrebt.Control device for carrying out the method for minimizing the consequences of the accident in vehicles according to one of claims 1 to 6, which has an evaluation device (5) has that of the vehicle (1) attached environmental sensors (2) and of the Vehicle electronics (3) receives internal vehicle data and based on this data recognizes the inevitable accident situation and an individual braking of the individual Wheels (R1 to R2) in such a way that the vehicle (1) a predetermined, strives for optimal impact position. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, daß in einem Speicher (7) fahrzeugspezifische Merkmale und Grenzwerte gespeichert sind, die in der Auswerteeinrichtung (5) mit den Umgebungsdaten (4) und Fahrzeugdaten (6) ständig verglichen und zur Steuerung des Bremsvorganges und/oder des Lenkvorganges in einer Unfallsituation verwendet werden.Device according to Claim 7, characterized in that vehicle-specific features and limit values are stored in a memory (7), which are constantly compared in the evaluation device (5) with the environmental data (4) and vehicle data (6) and for controlling the braking process and / or of the steering process can be used in an accident situation. Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, daß in den Speicher (7) die charakteristischen Merkmale einer Vielzahl möglicher Unfallsituationen mit den jeweils zugehörigen optimalen Aufprall-Sollwinkeln (α) gespeichert sind.Apparatus according to claim 8, characterized in that the characteristic features of a large number of possible accident situations are stored in the memory (7) with the respectively associated optimal target impact angles (α). Vorrichtung nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, daß die Auswerteeinrichtung (5) über eine Bremsensteuerung (9), die Teil eines automatischen Bremssystems ist, das Abbremsen der einzelnen Räder (R1 bis R4) steuert.Device according to one of claims 7 to 9, characterized in that the evaluation device (5) controls the braking of the individual wheels (R1 to R4) via a brake control (9) which is part of an automatic braking system.
EP99109342A 1998-06-26 1999-05-31 Procedure and control device for minimizing the consequence of an accident. Expired - Lifetime EP0967121B1 (en)

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DE59908185D1 (en) 2004-02-05
EP0967121B1 (en) 2004-01-02

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